KR100890430B1 - Elastic leg structure and robot having the same - Google Patents

Abstract

The present invention relates to an elastic leg structure for increasing the moving speed and a walking robot using the same, the object of which is to implement a mechanism of action, such as running of a person to greatly increase the moving speed of the walking robot, impact reduction of the driving unit To reduce the complexity of the device to reduce the weight, and to provide an elastic leg structure and a walking robot using the same to create a running process of the walking robot with a simple structure.

The present invention for achieving the above object by installing a spring having an elastic force in the knee joint, which is the connection between the upper leg and lower leg to store energy during impact on the ground to give a buffer effect to alleviate the impact on other devices, The technical gist of the resilient leg structure and the walking robot using the same, which pushes the ground with instant resilience by instant resilience and creates the running process of the leg robot.

Joint spring, robot, shock absorber, robot leg, leg robot, impact force storage.

Description

Elastic leg structure and leg robot with same {ELASTIC LEG STRUCTURE AND ROBOT HAVING THE SAME}

1 is an exemplary front view of an elastic leg according to the present invention;

2 is a side view of an elastic leg according to the present invention;

Figure 3 is an illustration of the joint portion of the leg structure according to a preferred embodiment of the present invention,

4 is an exploded view of an elastic leg according to a preferred embodiment of the present invention;

5 is a plan view of the lower leg connection end according to the invention,

6 is an exemplary view of a legged robot according to the present invention;

7 is a graph of elasticity experiment coefficient according to the use example of the present invention.

<Description of the symbols for the main parts of the drawings>

A: Robot body B: Elastic leg

1: Amortization part 11: Amortization inner side bar

12: declining portion outer bar 13: hinge fixing end

14: hinge bearing

2: Lower part 21: Lower part inner bar

22: lower leg outer bar 23: lower leg connecting end

3: drive unit 30: reducer

301: casing 302: rotating body

31: motor 310: pulley

311: pulley belt 32: elastic body (SPRING)

33: support block 34: knee joint shaft

35: knee joint shaft support 36: upper and lower connecting end

37: upper and lower connection spacer 38: elastic lower support

4: Ankle 40: Foot Connection

41: ankle pitch axis 42: pitch axis support

43: pitch shaft reducer 44: pitch shaft motor

45: ankle roll shaft 46: roll shaft support

47: roll shaft reducer 48: roll shaft motor

5: foot 51: force moment sensor

The present invention relates to an elastic leg structure and a leg robot having the same, and more particularly, an elastic leg structure capable of acting to be rebounded by elasticity by installing a linear spring at a joint supporting the knee and a leg having the same. In providing a robot.

In general, a mobile robot can be divided into a legged robot having a plurality of legs and a wheeled robot having wheels according to the means. In the case of a robot using a bridge as a means of movement, the robot can be embodied in the same way as a biped robot or a robot of four or more groups. Wheeled robots can move quickly on flat surfaces, but movement is extremely limited in obstacles, non-flat terrain, or in steep terrain. Due to these environmental adaptation requirements, bridge robots are an alternative.

The biggest feature of the legged robot is its mobility due to the mechanical part. However, while the legged robots are excellent in their utilization, they have a complex driving relationship so that they do not fall down, and the driving mechanism and the driving process for walking according to the speed are complicated, and there are still many resources to maintain the center. Because of the dedication, the speed of movement is very limited.

Therefore, in order to increase the effectiveness of the legged robot mechanism, it is required to increase the moving speed of the robot.

In order to implement fast movement in legged robots, it is necessary to implement a jumping motion. To this end, the driving part absorbs the impact force caused by the collision with the ground when landing with the device that can store energy to facilitate the driving of the joint momentarily. Device is needed. That is, in order to increase the effectiveness of the leg mechanism for the rapid driving of the leg-type robot, a method of increasing the instantaneous rotational speed of the robot joint and a method of absorbing and mitigating impact force when landing the foot are required. At present, there are the following main problems in order to implement rapid movement of the legged robot.

First, the output capacity relative to the weight of the leg joint drive is small. For rapid movement of the robot, a robot joint driver having a low self-weight and a large output capacity is required. However, considering the weight of the driver, the size of the driver is limited, which limits the output of the driver, and thus there is a limit in implementing a rapid movement of the robot using only the output of the driver.

In addition, the rapid walking and traveling movement of the robot involves contact with the foot and the ground. When the foot lands on the ground, the impact force induced by the collision between the foot and the ground occurs continuously-periodically in the walking and running movements of the robot with legs. do. The conventional shock absorbing device of the biped walking robot has many methods of mounting the shock absorbing device mainly on the foot, but this is not effective because the mechanical part of the foot is complicated and the weight increases.

The aforementioned impact force tends to increase as the moving speed of the robot increases, reaching several times the weight of the robot itself. Since such impact force can pose a great risk to stability, such as overturning of the legged robot, it must be absorbed to reduce the impact force and prevent propagation to other structures.

The present invention has been made to solve the above-mentioned conventional problems, and its object is to implement a mechanism of action such as running of a human to greatly increase the moving speed of the walking robot, the complexity of the shock absorbing device of the driving unit In order to reduce the weight and reduce the weight, and to provide a walking structure using the same and the elastic leg structure to create a running process of the walking robot with a simple structure.

In order to achieve the object as described above, the elastic leg structure and the leg robot having the same according to the present invention,

A leg structure capable of absorbing shock when landing of a legged robot, comprising: an upper leg part connected to and supporting the body of the legged robot; A lower angle part rotatably connected to the upper angle part and stepping on a ground; It includes a drive unit for generating a rotational motion in the lower portion relative to the upper portion; The driving unit includes a motor coupled to the upper and lower parts, a speed reducer for reducing the rotational speed of the motor to transmit torque, and one end connected to the speed reducer and the other end coupled to the lower angle part of the motor transferred through the speed reducer. It is achieved by the elastic leg structure of the leg-shaped robot which transmits rotational force to the lower leg, and includes an elastic body that is elastically deformed when subjected to impact in the rotational direction of the lower leg to absorb the shock and complement the output of the motor upon restoration. do.

And, the robot body having a system and a posture control device for walking; Two or more elastic legs coupled to the robot body; Each of the elastic legs, the upper body portion is connected to and support the robot body; A lower angle part rotatably connected to the upper angle part and stepping on a ground; It includes a drive unit for generating a rotational motion in the lower portion relative to the upper portion; The driving unit includes a motor coupled to the upper and lower parts, a speed reducer for reducing the rotational speed of the motor to transmit torque, and one end connected to the speed reducer and the other end coupled to the lower angle part of the motor transferred through the speed reducer. And a resilient leg structure for transmitting a rotational force to the lower leg, and including an elastic body that is elastically deformed when subjected to an impact in the rotational direction of the lower leg to absorb the shock and complement the output of the motor upon restoration. Achieved by a legged robot.

In addition, the elastic body may be formed of a spring in the form of a square beam.

In addition, the reducer may include a casing coupled to the upper leg and a rotating body accommodated in the casing, one side of which is coupled to the elastic body and driven by the motor.

In addition, the reducer may further include a support block for fixing the rotor and the elastic body to each other.

In addition, the support block may be formed in a U-shaped space adjustable to accommodate the elastic body according to the material and shape of the elastic body.

In addition, it may further include a foot portion rotatably connected to the lower leg portion and in contact with the ground.

In addition, the foot portion may be rotatable about two rotation axes orthogonal to the longitudinal direction of the lower portion.

The apparatus may further include a force moment sensor installed between the lower leg and the foot to measure the force and moment acting on the foot.

In addition, the elastic legs may be in a state in which all the elastic legs are not in contact with the ground during the walking cycle while sequentially stepping on the ground with each other during rapid walking.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, if it is determined that the detailed description of the related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Figure 3 is an illustration of the joint portion of the leg structure according to a preferred embodiment of the present invention, Figure 4 is an exploded view of the elastic leg according to a preferred embodiment of the present invention, Figure 1 is a front view of the elastic leg according to the present invention, Figure 2 is a side view of the elastic leg according to the present invention.

1 to 4, an elastic leg B according to a preferred embodiment of the present invention includes an upper leg 1, a lower leg 2, and a driving unit 3 having an elastic body 32.

The elastic leg (B) is driven by hinge coupling between the upper and lower portions (1) coupled to the robot body (A), the lower leg (2) on the ground, and the upper and lower portions (1) and the lower leg (2). It includes a drive unit (3).

The upper part 1 includes an upper part inner bar 11 and an upper part outer bar 12 forming a exoskeleton in the form of a bar, one side of which is coupled to the robot body A, and the other side of the lower part 2. And hinge hinged to be rotatable through the hinge fixed end 13 and the hinge bearing (14).

The lower leg 2 has a lower inner bar 21 and a lower outer bar 22 forming a bar exoskeleton, one side of which is hinged to the other side of the upper leg 1, and the other side of the ground. Is made.

The driving unit 3 includes a pulley 310, a pulley belt 311, and a knee joint shaft that transmit the rotational force of the motor 31 and the motor 31 so that the upper and lower portions 1 and 2 rotate. 34 and a speed reducer 30 for slowing down the rotational speed of the motor 31 to transmit torque. At least one motor 31 may be installed to increase torque.

The motor 31 is preferably installed in the upper portion 1 as an efficient space arrangement. In the present embodiment, the rotation shaft of the motor 32 penetrates the inside of the upper portion of the upper portion of the upper portion of the upper portion 11 and the outer portion of the upper portion of the upper portion 12. The pulley 310 is coupled to the rotating shaft of the motor 32 penetrated to the outside of the deterioration portion 12.

The knee joint shaft 34 is provided on the central axis of rotation of the upper and lower portions 1 and 2.

Pulleys 311 and pulleys 310 coupled to each end of rotation of the motor 31 and the knee joint shaft 34 are provided with a pulley belt 311.

According to such a configuration, when the rotation shaft of the motor 31 rotates, the knee joint shaft 34 is rotated by the rotation of each pulley 310 and the pulley belt 311.

The pulley 310 connected to the knee joint shaft 34 and the knee joint shaft 34 is fixed to the knee joint shaft support 35 provided in the lower rotation part of the upper leg 1.

The upper and lower angles of the upper and lower parts 1 and the fixed knee joint shaft support 35 are pivotally constrained to the center part by hinges, and one end is fixed to the lower part 2 by a vertical connecting spacer 37. A connection end 36 is provided.

The reduction gear 30 is comprised by the casing 301 and the rotating body 302 which meshes with the casing 301, and rotates.

The casing 301 has a knee joint shaft 34 penetrated at the center thereof, and one surface of the casing 301 is installed at the lower end of the inner surface of the upper bar 12 of the upper portion. The rotator 302 rotates in conjunction with the knee joint shaft 34. One surface of the rotating body 302 is provided with a support block 33 to cooperate with the rotation of the rotating body 302.

An elastic lower angle support 38 is provided below the lower angle part 2 to fix the lower angle inner bar 21 and the lower angle outer bar 22 in a state where a distance is maintained.

An elastic body 32 is installed and fixed between the support block 33 and the elastic lower support 38.

At this time, the elastic body 32 is preferable to maintain the shape of the perforated portion 230 of the lower connecting portion 23 is inserted into the space, but the elastic body 32 and the lower connecting portion 23 is the position The relationship between and does not limit the scope.

5 is a plan view of the lower leg connecting end according to the present invention.

A lower leg connection end 23 is fixed between the lower leg inner bar 21 and the lower leg outer bar 22 on the lower leg 2, and thus the lower leg outer bar 22 and the lower leg inner bar. (21) to be spaced apart from each other. As shown in FIG. 5, the lower leg connecting end 23 is preferably provided with a perforated portion 230 therein so that there is no friction even when it is inserted into the elastic body 32 and flows.

The elastic body 32 uses a leaf spring, it is preferably formed of a linear spring in the form of a square beam.

The spring is different from the material, outer shape, the stiffness according to the load application direction, the rigidity (k: is represented by the spring constant),

Is calculated.

The linear spring has various characteristics such as high rigidity, high reliability of operation, fast operation speed, very long life, and many contact points. Therefore, a linear spring capable of producing an immediate elastic repulsive force after applying external pressure is very suitable in view of the characteristics of the present invention.

The support block 33 is a clamp for fixing the linear spring, it is preferably formed in the U shape. If the thickness of the linear spring changes, it can be replaced accordingly with the appropriate dimensions. Since the support block 33 fixes one end of the elastic body 32 and the rotating body 302 to each other, the elastic body 32 also interlocks when the rotating body 302 rotates.

As described above, the force is transmitted to the knee joint shaft 34 by the linkage of the pulley 310 and the pulley belt 311 when driven to the motor 31 coupled to the upper part 1, the knee joint As the rotating body connected to the shaft 34 rotates, the elastic body 32 is also interlocked, and the force is applied to the lower leg part 2 through the elastic lower leg support 38 coupled to the end of the elastic body 32. It is delivered and driven.

At this time, since the upper and lower portions 1 and 2 are connected to each other by hinges, the upper and lower portions 1 and 2 are driven to fold at an angle to each other.

Here, as described above, the upper and lower portions 1 and 2 have a connection relationship with each other, and the driving direction thereof is connected to each other by a movable hinge to rotate at an angle, but the transmission of the driving force is based on an elastic body ( 32, rotational energy is transmitted from the upper portion 1 to the lower portion 2. Therefore, the elastic energy of the elastic body 32 may be further added at the time of interlocking the upper and lower portions 1 and 2 to increase the torque of the rotational energy.

The elastic leg (B) of the present invention further includes an ankle part (4) installed at the bottom of the lower leg part (2) to directly connect the foot part (5) and the foot part (5) to drive the ground.

The ankle part 4 coupled to the end of the lower leg part 2 and connected to the foot part 5 is provided with a foot connection end 40 having roll axis motion and pitch axis motion devices.

The upper surface of the foot (5) further includes a force moment sensor (51) for measuring the direction and magnitude of the force transmitted and connected to the lower portion of the foot connection end (40).

The footrest part 4 has the roll axis motion which rotates the foot part 5 horizontally with the elastic leg B in front as shown in FIG. 1, and the elastic leg B is shown at the side as shown in FIG. It is equipped with a device for pitch axis movement to rotate the foot (5) in the horizontal direction.

The pitch axis movement device includes a pitch axis motor 44 connected to the lower part 2, a pitch axis reducer 43 connected to the lower part of the lower part 2 to rotate the pitch movement of the foot 5, and the pitch axis reducer. Pitch that is connected to the rotary shaft of (43) to rotate the pitch shaft reducer 43, the pulley and the pulley belt for interlocking the ankle pitch shaft 41 and the pitch shaft motor 44 is arranged The shaft support 42 is provided.

The roll shaft motion device is connected to a roll shaft motor 48 installed at the foot joint end 40, a roll shaft reducer 47 for rotating the roll motion of the foot 5, and a roll shaft reducer 47 connected to the rotary shaft of the roll shaft reducer 47. An ankle roll shaft 45 for rotating the axle, and a roll shaft support 46 on which a pulley and a pulley belt for interlocking the ankle roll shaft 45 and the roll shaft motor 48 are arranged.

The roll shaft and the pitch shaft motion of the foot 5 are each connected by a hinge and driven in the rotation direction by the driving force of the roll shaft and the pitch shaft motion device. However, since the driving relation description is a conventional motor linkage relation description, Detailed description will be omitted.

5 is an exemplary view of a legged robot according to the present invention.

The elastic leg (B) of the present invention may be composed of a robot body (A) to which a pair of symmetrical pairs is coupled to the upper end of the upper part (1). However, the number of elastic legs B installed on the robot body A is not limited to at least one.

Here, the robot body (A) is provided with a control device for transmitting a signal for the control and driving of each of the elastic legs (B), and maintains the posture so as not to fall from standing, sitting, walking or running with the system required for walking driving And a posture control device.

Hereinafter, the operation according to an embodiment of the present invention will be described with reference to the accompanying drawings.

The present invention is a device for running like a human at a high speed beyond walking the robot.

In order to realize the running motion, it is necessary to drive the knee joint at a high speed and step on the ground to increase the stride length and to realize that all the legs do not touch the ground. To do this, you need a large force and a responsive joint that can move at high speed.

The present invention forms a walking cycle in which the pair of elastic legs B of the robot body A sequentially step on the ground.

When explaining the process of the elastic foot (B) the ground is as follows.

When the foot part 5 stands on the ground by the drive of the motor 31, the impact with the floor occurs in the foot part 5 which contacts the ground.

At this time, the impact force is transmitted to the upper part through the lower part 2, and the impact force is directly transmitted to the elastic body 32 to which the upper arm 1 and the driving force are connected.

At this time, in order for the elastic body 32 to receive elastic deformation due to impact, when the foot portion 5 touches the ground, the upper and lower portions 1 and 2 are preferably less than 180 degrees.

If the upper and lower leg portions 1 and 2 of the elastic leg B stand vertically in a straight line, the spring effect cannot be obtained when walking. Therefore, it is preferable that the upper and lower portions 1 and 2 always be less than 180 degrees when walking.

However, in general, this does not matter because the situation does not occur in contact with the ground in a straight state on the walking mechanism.

Hereinafter, the upper leg portion 1 and the lower leg portion 2 form a bending angle of less than 180 degrees is referred to as knee bending.

The impact force transmitted to the elastic body 32 is absorbed by a certain amount by the deformation of the elastic body 32 to reduce the force transmitted to the upper portion (1).

And, the impact force saved by the elastic body 32 generates torque in the reducer 30, and this torque is pre-controlled by the reducer 30 so as not to cause excessive torque to the motor 31.

Thereafter, the reduction gear 30 is driven by the driving of the motor 31 to generate driving to straighten the knee bending of the upper and lower portions 1 and 2.

At this time, the deformation energy stored by the elastic body 32 is used to straighten the knee bending of the upper and lower portions 1 and 2, which are bent by the instant repulsive force, which is a characteristic of the linear spring. Increase strength. As this process occurs alternately on the pair of elastic legs (B) sequentially, the operation of jumping becomes possible.

7 is a graph of elastic modulus according to the use example of the present invention.

The 'elastic modulus' indicated by the dotted line and the 'elastic modulus' indicated by the solid line in the graph indicate that the elastic modulus of the linear spring is relatively small ( k = 900 Nm / rad) and the relatively large ( k = 17730 Nm / rad). It is shown.

When the elastic modulus of the linear spring is large, the magnitude of the repulsive force against the ground is larger, and the larger the elastic modulus of the linear spring, the faster the recovery time. In addition, conventionally, since the shock is transmitted to the entire leg, the impact transmission is large, while the elastic leg of the present invention absorbs the impact force by the elastic body 32, thereby reducing the impact on the entire leg.

As described above, the detailed description of the present invention has been made by the embodiments with reference to the accompanying drawings, but the above-described embodiments are only described with reference to the preferred examples of the present invention, and thus the present invention is limited to the above embodiments. It should not be understood as. Therefore, a person having ordinary knowledge in the technical field to which the present invention pertains may easily implement other forms of the present invention within the same scope as the above-described embodiments, or the present invention only by the description of the embodiments of the present invention. It will be possible to practice the invention in the same and equal range.

As described above, the present invention transmits the driving force due to the elastic body provided between the upper and lower portions, thereby absorbing the shock generated in the lower portion and simultaneously generating a strong torque to the movement of the motor with instant repulsion. It greatly increases the opening force of the lower and lower legs, and also acts quickly, allowing the elastic legs to soar the robot body for continuous jumping.

As a result, a pair of elastic legs are alternately jumped in sequence, thereby allowing the robot to run itself, thereby enabling the rapid walking of the robot and greatly increasing its effectiveness. It is an invention that the use is anticipated greatly.

Claims (17)

As a leg structure that can absorb shock when landing the leg robot, An upper portion connected to the body of the legged robot and supporting the same; A lower angle part rotatably connected to the upper angle part and stepping on a ground; And A motor coupled to the upper and lower parts, a speed reducer to reduce the rotational speed of the motor to transmit torque, and one end connected to the speed reducer, and the other end coupled to the lower angle part to receive the rotational force of the motor transmitted through the speed reducer. It is transmitted to the lower part, and provided with an elastic body that is elastically deformed when subjected to an impact in the rotational direction of the lower part to absorb the impact and to restore the output of the motor when restoring, the rotational movement to the lower part relative to the upper part A driver for generating a; The reducer is a leg leg structure, characterized in that it comprises a casing coupled to the upper portion and a rotating body accommodated in the casing, one side is coupled to the elastic body and driven by the motor. The method of claim 1, The elastic body is an elastic leg structure of the leg-shaped robot, characterized in that formed by a spring in the form of a square beam. delete The method of claim 1, An elastic leg structure of a leg-shaped robot, characterized in that further comprising a support block for connecting and fixing the rotor and the elastic body of the reducer. The method of claim 4, wherein The support block is an elastic leg structure of a leg-shaped robot, characterized in that formed in the U-shaped space adjustable to accommodate the elastic body according to the material and shape of the elastic body. The method of claim 1, And a foot portion rotatably connected to the lower leg portion and in contact with the ground. The method of claim 6, And the foot portion is rotatable about two rotational axes perpendicular to the longitudinal direction of the lower leg portion. The method of claim 6, The elastic leg structure of the leg-shaped robot, characterized in that it further comprises a force moment sensor installed between the lower leg and the foot portion to measure the force and moment acting on the foot. A robot body having a system for walking and a posture control device; Two or more elastic legs coupled to the robot body; Each of the elastic legs, An upper portion connected to the robot body to support it; A lower angle part rotatably connected to the upper angle part and stepping on a ground; And A motor coupled to the upper and lower parts, a speed reducer to reduce the rotational speed of the motor to transmit torque, and one end connected to the speed reducer, and the other end coupled to the lower angle part to receive the rotational force of the motor transmitted through the speed reducer. It is transmitted to the lower part, and provided with an elastic body that is elastically deformed when subjected to an impact in the rotational direction of the lower part to absorb the impact and to restore the output of the motor when restoring, the rotational movement to the lower part relative to the upper part A driver for generating a; The speed reducer is a leg robot having an elastic leg structure, characterized in that it comprises a casing coupled to the upper portion and a rotating body accommodated in the casing, one side is coupled to the elastic body and driven by the motor. The method of claim 9, The elastic body is a leg-shaped robot having an elastic leg structure, characterized in that formed by a spring in the form of a square beam. delete The method of claim 9, Leg robot having an elastic leg structure, characterized in that it further comprises a support block for connecting and fixing the rotating body and the elastic body of the reducer. The method of claim 12, The support block is a leg-shaped robot having an elastic leg structure, characterized in that formed in the U-shaped space adjustable to accommodate the elastic body according to the material and shape of the elastic body. The method of claim 9, The leg robot having an elastic leg structure further comprises a foot portion rotatably connected to the lower leg portion and in contact with the ground. The method of claim 14, The foot portion is a leg robot having an elastic leg structure, characterized in that each rotatable about two axis of rotation perpendicular to the longitudinal direction of the lower leg. The method of claim 14, The leg robot having an elastic leg structure further comprises a force moment sensor installed between the lower leg and the foot to measure the force and moment acting on the foot. The method of claim 9, The elastic leg is a leg-type robot with an elastic leg structure, characterized in that to step on the ground sequentially during rapid walking and all the elastic legs are not in contact with the ground during the walking cycle.

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